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Castor2026
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Zone check? I dunno, tired :3

This commit is contained in:
TheRealGrayden 2026-04-09 20:28:28 -04:00
parent 2ad0eedff5
commit ad65dc07ce
5 changed files with 216 additions and 120 deletions
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38
src/main/java/frc/robot/Constants.java
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@ -1,36 +1,39 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package frc.robot;
import com.ctre.phoenix6.signals.InvertedValue;
import edu.wpi.first.apriltag.AprilTagFieldLayout;
import edu.wpi.first.apriltag.AprilTagFields;
import edu.wpi.first.math.geometry.Pose3d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.geometry.Transform3d;
import edu.wpi.first.math.geometry.Transform2d;
import edu.wpi.first.units.Units;
import edu.wpi.first.math.geometry.Transform3d;
import edu.wpi.first.units.measure.Angle;
import com.ctre.phoenix6.signals.InvertedValue;
/**
* The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean
* constants. This class should not be used for any other purpose. All constants should be declared
* globally (i.e. public static). Do not put anything functional in this class.
* The Constants class provides a convenient place for teams to hold robot-wide
* numerical or boolean constants. This class should not be used for any other
* purpose. All constants should be declared globally (i.e. public static). Do
* not put anything functional in this class.
*
* <p>It is advised to statically import this class (or one of its inner classes) wherever the
* constants are needed, to reduce verbosity.
* <p>
* It is advised to statically import this class (or one of its inner classes)
* wherever the constants are needed, to reduce verbosity.
*/
public final class Constants {
public static class OperatorConstants {
public static final int kDriverControllerPort = 0;
}
public static class CameraConstanst {
public static class IDFilters {
public static final int[] RED_HUB_SHOOTING_IDS = new int[]{8, 9, 10, 11};
public static final int[] BLUE_HUB_SHOOTING_IDS = new int[]{27, 26, 25, 24};
}
@ -42,10 +45,13 @@ public final class Constants {
public static final String FRONT_CAMERA_NAME = "limelight-front";
public static final int FRONT_LOCALIZATION_PIPELINE_NUMBER = 0;
public static final double[] BLUE_ZONE_COOR = new double[]{1};
public static final double[] RED_ZONE_COOR = new double[]{1};
public static final double[] NEUTRAL_ZONE_COOR = new double[]{1};
}
public static class AdvantageKitConstants {
public enum RobotType {
SIM,
REAL,
@ -54,12 +60,15 @@ public final class Constants {
public static final RobotType CURRENT_MODE = RobotType.REAL;
}
// Swerve offsets as of 3/2/26
public static class SwerveDriveOffsets {
public static final float FRONT_LEFT_MOTOR_OFFSET = -0.336426f;
public static final float FRONT_RIGHT_MOTOR_OFFSET = 0.108887f;
public static final float BACK_LEFT_MOTOR_OFFSET = -0.492432f;
public static final float BACK_RIGHT_MOTOR_OFFSET = 0.470215f;
}
/*
* Numbers starting with 1 (E.g. 11, 12, 13) are in the Front Left of the robot
* Numbers starting with 2 (E.g. 21, 22, 23) are in the Front Right of the robot
@ -69,6 +78,7 @@ public final class Constants {
* Single diget numbers (E.g. 1, 2, 3) are extra, non-motor, pieces that require IDs, such as the Pigeon
*/
public static class SwerveDriveIDs {
public static final int FRONT_LEFT_STEER_ID = 11;
public static final int FRONT_LEFT_DRIVE_ID = 12;
public static final int FRONT_LEFT_ENCODER_ID = 13;
@ -85,6 +95,7 @@ public final class Constants {
public static class RobotChassisLimits {
// Max velocity in meters per second
public static final double MAX_ROBOT_LINEAR_VELOCITY = 3;
// In meters per second squared
public static final double MAX_ROBOT_LINEAR_VELOCITY_ACCEL = 2;
@ -97,10 +108,12 @@ public final class Constants {
//Bird
public static class ExtraIDEntities {
public static final int PIGEON_ID = 1;
}
public static class IntakeConstants {
public static final int DEPLOY_MOTOR_ID = 17;
public static final boolean DEPLOY_MOTOR_INVERTED = true; // TODO: Test this
@ -109,6 +122,7 @@ public final class Constants {
}
public static class ShooterConstants {
public static final int LAUNCHER_MOTOR_ID = 3;
public static final boolean LAUNCHER_MOTOR_INVERTED = false;
@ -134,6 +148,7 @@ public final class Constants {
}
public static class HopperConstants {
public static final int KICKER_MOTOR_ID = 9;
public static final InvertedValue KICKER_MOTOR_DIRECTION = InvertedValue.Clockwise_Positive;
@ -142,6 +157,7 @@ public final class Constants {
}
public static class FieldPoses {
private static AprilTagFieldLayout fieldTags = AprilTagFieldLayout.loadField(AprilTagFields.k2026RebuiltWelded);
public static Pose3d BLUE_HUB_POSE = fieldTags.getTagPose(26).get().transformBy(new Transform3d(new Transform2d(-0.5207, 0, Rotation2d.kZero)));

2
src/main/java/frc/robot/RobotContainer.java
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@ -14,6 +14,7 @@ import frc.robot.commands.AutoShootCommandChassisTurret;
import frc.robot.commands.AutoShootCommandChassisTurretPathPlanner;
import frc.robot.commands.RelayCommand;
import frc.robot.commands.SetDeflectorCommand;
import frc.robot.commands.ZoneCheck;
import frc.robot.subsystems.DriveSubsystem;
import frc.robot.subsystems.HopperSubsystem;
import frc.robot.subsystems.IntakeSubsystem;
@ -83,6 +84,7 @@ public class RobotContainer {
m_driverController.y().whileTrue(new RelayCommand(hopperSubsystem, turretSubsystem, intakeSubsystem));
m_driverController.start().whileTrue(intakeSubsystem.resetDeploy());
m_driverController.x().toggleOnTrue(new AutoShootCommandChassisTurret(driveSubsystem, hopperSubsystem, turretSubsystem));
m_driverController.b().toggleOnTrue(new ZoneCheck());
}
/**

4
src/main/java/frc/robot/commands/ZoneSwap.java → src/main/java/frc/robot/commands/AnyTarget.java
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@ -21,7 +21,7 @@ import frc.robot.subsystems.DriveSubsystem;
import frc.robot.subsystems.HopperSubsystem;
import frc.robot.subsystems.TurretSubsystem;
public class ZoneSwap extends Command {
public class AnyTarget extends Command {
// For Chassis Control
private DriveSubsystem driveSubsystem;
@ -40,7 +40,7 @@ public class ZoneSwap extends Command {
private final double chassisRotateSpeed = Math.PI * 0.1;
public ZoneSwap(DriveSubsystem driveSubsystem, HopperSubsystem hopperSubsystem, TurretSubsystem turretSubsystem) {
public AnyTarget(DriveSubsystem driveSubsystem, HopperSubsystem hopperSubsystem, TurretSubsystem turretSubsystem) {
this.driveSubsystem = driveSubsystem;
this.hopperSubsystem = hopperSubsystem;
this.turretSubsystem = turretSubsystem;

79
src/main/java/frc/robot/commands/ZoneCheck.java Normal file
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@ -0,0 +1,79 @@
package frc.robot.commands;
import org.fairportrobotics.frc.robolib.vision.limelight.LimelightHelpers;
import edu.wpi.first.apriltag.AprilTagFieldLayout;
import edu.wpi.first.apriltag.AprilTagFields;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.DriverStation.Alliance;
import edu.wpi.first.wpilibj2.command.Command;
import frc.robot.Constants;
public class ZoneCheck extends Command {
private AprilTagFieldLayout fieldTags = AprilTagFieldLayout.loadField(AprilTagFields.k2026RebuiltWelded);
private Zone zone;
public enum Zone {
Blue,
Red,
Neutral;
}
public ZoneCheck() {
getBotPose();
}
@Override
public void initialize() {
DriverStation.getAlliance().ifPresent((aliance) -> {
if (aliance == Alliance.Blue) {
switch (zone) {
case Blue:
System.out.println("Im Home");
case Neutral:
System.out.println("Uhhhhhhhh not red");
;
default:
System.out.println("BOOOOO, BOOOO RED");
;
}
} else {
switch (zone) {
case Blue:
System.out.println("Screw Blue");
;
case Neutral:
System.out.println("Uhhhhhhhh not red");
;
default:
System.out.println("Im Home");
}
}
});
}
@Override
public void execute() {
}
@Override
public boolean isFinished() {
return false;
}
private double[] getBotPose() {
return LimelightHelpers.getBotPose_wpiBlue(Constants.CameraConstanst.BACK_CAMERA_NAME);
}
private void getZone() {
if (getBotPose()[0] >= Constants.CameraConstanst.RED_ZONE_COOR[0]) {
zone = Zone.Red;
} else if (getBotPose()[0] >= Constants.CameraConstanst.NEUTRAL_ZONE_COOR[0]) {
zone = Zone.Neutral;
} else {
zone = Zone.Blue;
}
}
}

1
src/main/java/frc/robot/subsystems/DriveSubsystem.java
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@ -135,7 +135,6 @@ public class DriveSubsystem extends TestableSubsystem {
.build())
.build();
// Set vision measurement confidence values
driveSystem.getPoseEstimator().setVisionMeasurementStdDevs(VecBuilder.fill(0.7, 0.7, 0.7, 999999));